Method for selecting unmanned vehicle path tracking movement target point

A moving target and path tracking technology, applied in vehicle position/route/height control, non-electric variable control, two-dimensional position/course control, etc., can solve problems such as tracking irregularities, improve accuracy, and reduce the amount of calculation The effect of simplicity, principle and calculation process

Inactive Publication Date: 2018-12-11
JILIN UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to provide a method for selecting a moving target point for unmanned vehicle path tracking, and to obtain a suitable path tracking moving target point by considering both the comprehensive speed change and the curvature change, aiming to solve the problem of unmanned vehicle path tracking. Unsmooth tracking caused by moving target point selection

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  • Method for selecting unmanned vehicle path tracking movement target point
  • Method for selecting unmanned vehicle path tracking movement target point
  • Method for selecting unmanned vehicle path tracking movement target point

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Embodiment Construction

[0032] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0033] The principle and calculation process of the path tracking moving target point selection method provided by the embodiment of the present invention are simple, the amount of calculation is small, and it is easy to implement in an embedded system. In addition, by realizing the high-precision satellite and path tracking algorithm in an embedded system Combined, the accuracy of path tracking is improved.

[0034] In the embodiment of the present invention, a method for selecting a moving target point for unmanned vehicle path tracking is provided. The method uses centimeter-level high-precision...

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Abstract

The invention relates to a method for selecting an unmanned vehicle path tracking movement target point. The method comprises the steps of collecting GPS point trajectories, sorting in a chronologicalorder, acquiring position coordinates and heading angle of a current position of an unmanned vehicle on a map in real time, selecting a GPS point closest to the vehicle as a starting point of vehicletracking, selecting a GPS point from a certain distance of the vehicle as the selection range of the tracking movement target point so as to adapt to an actual situation, obtaining a next movement target point by constructing an evaluation function related to the speed and heading angle of the vehicle, and finally, solving a suitable path tracking movement target point as a target point in unmanned vehicle path tracking. According to the method, the changes of the vehicle speed and the path heading angle are comprehensively considered to obtain the movement target point of the unmanned vehicle path tracking, the stability of the unmanned vehicle path tracking can be improved, and the safety of unmanned driving is improved.

Description

technical field [0001] The invention belongs to the technical field of unmanned driving, and in particular relates to a method for selecting a moving target point for unmanned vehicle path tracking. Background technique [0002] With the continuous development of science and technology, the number of cars has increased sharply, resulting in more and more complex road traffic environment and frequent road traffic accidents. [0003] Unmanned vehicles are part of intelligent transportation, which can effectively reduce the workload of drivers, reduce the incidence of traffic accidents, and improve the utilization of roads and vehicles. Unmanned vehicles can reach the designated destination autonomously and safely without human intervention. Among them, obstacle avoidance and navigation technology are the two core issues in the research of unmanned vehicles. Whether it is obstacle avoidance or navigation technology, the selection of moving target points in path tracking It is ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0278
Inventor 金立生夏海鹏郭柏苍陈梅朱菲婷冯成浩高铭闫福刚司法石健姬生远管信徐俊
Owner JILIN UNIV
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